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            <i class="icon-custom icon-method"></i> Methods
            <ul>
                                                                                                    <li class="method public">
        <a href="#method_rosbridgeStatus" title="rosbridgeStatus :: Create a span with a status icon on if the rosbridge server is up and running.">
            <span class="description">Create a span with a status icon on if the rosbridge server is up and running.</span><pre>rosbridgeStatus</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_rosbridgePanel" title="rosbridgePanel :: Create a section with a rosbridge diagnostic panel.">
            <span class="description">Create a section with a rosbridge diagnostic panel.</span><pre>rosbridgePanel</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_mjpegServerStatus" title="mjpegServerStatus :: Create a span with a status icon on if the MJPEG server is up and running.">
            <span class="description">Create a span with a status icon on if the MJPEG server is up and running.</span><pre>mjpegServerStatus</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_mjpegPanel" title="mjpegPanel :: Create a section with a MJPEG server diagnostic panel.">
            <span class="description">Create a section with a MJPEG server diagnostic panel.</span><pre>mjpegPanel</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_mjpegStream" title="mjpegStream :: Create a section with a MJPEG stream display.">
            <span class="description">Create a section with a MJPEG stream display.</span><pre>mjpegStream</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_ros" title="ros :: Create a global ROS connection. This will store the connection object in a JavaScript variable called _ROS.">
            <span class="description">Create a global ROS connection. This will store the connection object in a JavaScript variable called _ROS.</span><pre>ros</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_ros3d" title="ros3d :: Create a global ROS 3D scene. This will store the viewer object in a JavaScript variable called _VIEWER.">
            <span class="description">Create a global ROS 3D scene. This will store the viewer object in a JavaScript variable called _VIEWER.</span><pre>ros3d</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_tf" title="tf :: Create a global ROS TF client. This will store the client object in a JavaScript variable called _TF.">
            <span class="description">Create a global ROS TF client. This will store the client object in a JavaScript variable called _TF.</span><pre>tf</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_marker" title="marker :: Add a marker to the global ros3d scene.">
            <span class="description">Add a marker to the global ros3d scene.</span><pre>marker</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_interactiveMarker" title="interactiveMarker :: Add an interactive marker to the global ros3d scene.">
            <span class="description">Add an interactive marker to the global ros3d scene.</span><pre>interactiveMarker</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_urdf" title="urdf :: Add an URDF to the global ros3d scene.">
            <span class="description">Add an URDF to the global ros3d scene.</span><pre>urdf</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_keyboardTeleop" title="keyboardTeleop :: Create a keyboard teleoperation connection via keyboardteleopjs.">
            <span class="description">Create a keyboard teleoperation connection via keyboardteleopjs.</span><pre>keyboardTeleop</pre>
        </a>
    </li>

                                                                                                        <li class="method public">
        <a href="#method_initStudy" title="initStudy :: Initialize study information if there is a valid study session. This method has no effect if no study session is
in progress.">
            <span class="description">Initialize study information if there is a valid study session. This method has no effect if no study session is
in progress.</span><pre>initStudy</pre>
        </a>
    </li>

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                </ul>
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        <li class="nav-header">
            <i class="icon-custom icon-constant"></i> Constants
            <ul>
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        </div>

        <div class="span8">
            <div class="element class">
                <h1>RmsHelper</h1>
                <small style="display: block; text-align: right">
                                            Extends \Helper
                                                        </small>
                <p class="short_description">RMS Helper</p>
                <div class="details">
                    <div class="long_description">
                        <p>The RMS helper adds useful functions for making use of the RMS JavaScript library.</p>
                    </div>
                    <table class="table table-bordered">
                                                                                    <tr>
                                    <th>
                                        author
                                                                            </th>
                                    <td>
                                                                                    
                                                                                <p>Russell Toris - rctoris@wpi.edu</p>
                                    </td>
                                </tr>
                                                                                                                <tr>
                                    <th>
                                        copyright
                                                                            </th>
                                    <td>
                                                                                    
                                                                                <p>2014 Worcester Polytechnic Institute</p>
                                    </td>
                                </tr>
                                                                                                                <tr>
                                    <th>
                                        link
                                                                            </th>
                                    <td>
                                                                                    
                                                                                <p><a href="https://github.com/WPI-RAIL/rms">https://github.com/WPI-RAIL/rms</a></p>
                                    </td>
                                </tr>
                                                                                                                <tr>
                                    <th>
                                        since
                                                                            </th>
                                    <td>
                                                                                    
                                                                                <p>RMS v 2.0.0</p>
                                    </td>
                                </tr>
                                                                                                                <tr>
                                    <th>
                                        version
                                                                            </th>
                                    <td>
                                                                                    2.0.1
                                                                                
                                    </td>
                                </tr>
                                                                                                                <tr>
                                    <th>
                                        package
                                                                            </th>
                                    <td>
                                                                                    
                                                                                <p>app.View.Helper</p>
                                    </td>
                                </tr>
                                                                                                                                                                                </table>

                    <h3><i class="icon-custom icon-method"></i> Methods</h3>
                                                                <a id="method_rosbridgeStatus"></a>
                        <div class="element clickable method public  method_rosbridgeStatus" data-toggle="collapse" data-target=".method_rosbridgeStatus .collapse">
                            <h2>Create a span with a status icon on if the rosbridge server is up and running.</h2>
                            <pre>rosbridgeStatus(string $protocol, string $host, int $port) : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
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                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$protocol</h4>
                                                <code>string</code><p><p>The rosbridge protocol ('ws' or 'wss')</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$host</h4>
                                                <code>string</code><p><p>The rosbridge host.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$port</h4>
                                                <code>int</code><p><p>The rosbridge port.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the span.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_rosbridgePanel"></a>
                        <div class="element clickable method public  method_rosbridgePanel" data-toggle="collapse" data-target=".method_rosbridgePanel .collapse">
                            <h2>Create a section with a rosbridge diagnostic panel.</h2>
                            <pre>rosbridgePanel(string $protocol, string $host, int $port) : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$protocol</h4>
                                                <code>string</code><p><p>The rosbridge protocol ('ws' or 'wss')</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$host</h4>
                                                <code>string</code><p><p>The rosbridge host.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$port</h4>
                                                <code>int</code><p><p>The rosbridge port.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the section.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_mjpegServerStatus"></a>
                        <div class="element clickable method public  method_mjpegServerStatus" data-toggle="collapse" data-target=".method_mjpegServerStatus .collapse">
                            <h2>Create a span with a status icon on if the MJPEG server is up and running.</h2>
                            <pre>mjpegServerStatus(string $host, int $port) : string</pre>
                            <div class="labels">
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                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$host</h4>
                                                <code>string</code><p><p>The MJPEG host.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$port</h4>
                                                <code>int</code><p><p>The MJPEG port.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the span.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_mjpegPanel"></a>
                        <div class="element clickable method public  method_mjpegPanel" data-toggle="collapse" data-target=".method_mjpegPanel .collapse">
                            <h2>Create a section with a MJPEG server diagnostic panel.</h2>
                            <pre>mjpegPanel(string $host, int $port, array $topics) : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$host</h4>
                                                <code>string</code><p><p>The MJPEG host.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$port</h4>
                                                <code>int</code><p><p>The MJPEG port.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$topics</h4>
                                                <code>array</code><p><p>The MJPEG topics.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the section.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_mjpegStream"></a>
                        <div class="element clickable method public  method_mjpegStream" data-toggle="collapse" data-target=".method_mjpegStream .collapse">
                            <h2>Create a section with a MJPEG stream display.</h2>
                            <pre>mjpegStream(string $host, int $port, string $topic, array|null $options = null) : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$host</h4>
                                                <code>string</code><p><p>The MJPEG host.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$port</h4>
                                                <code>int</code><p><p>The MJPEG port.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$topic</h4>
                                                <code>string</code><p><p>The MJPEG stream topic.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$options</h4>
                                                <code>array|null</code><p><p>The stream options.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the section.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_ros"></a>
                        <div class="element clickable method public  method_ros" data-toggle="collapse" data-target=".method_ros .collapse">
                            <h2>Create a global ROS connection. This will store the connection object in a JavaScript variable called _ROS.</h2>
                            <pre>ros(string $uri, null|string $rosauth = null) : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$uri</h4>
                                                <code>string</code><p><p>The complete rosbridge connection URI.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$rosauth</h4>
                                                <code>null|string</code><p><p>The optional rosauth connection key.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the entire script block.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_ros3d"></a>
                        <div class="element clickable method public  method_ros3d" data-toggle="collapse" data-target=".method_ros3d .collapse">
                            <h2>Create a global ROS 3D scene. This will store the viewer object in a JavaScript variable called _VIEWER.</h2>
                            <pre>ros3d() : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

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                                                                                    <tr>
                                                <th>
                                                    
                                                </th>
                                                <td>
                                                                                                    </td>
                                            </tr>
                                                                            </table>

                                    
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the entire script block.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_tf"></a>
                        <div class="element clickable method public  method_tf" data-toggle="collapse" data-target=".method_tf .collapse">
                            <h2>Create a global ROS TF client. This will store the client object in a JavaScript variable called _TF.</h2>
                            <pre>tf(string $frame, float $angular, float $translation, float $rate) : string</pre>
                            <div class="labels">
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                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$frame</h4>
                                                <code>string</code><p><p>The fixed frame.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$angular</h4>
                                                <code>float</code><p><p>The angular publish threshold.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$translation</h4>
                                                <code>float</code><p><p>The translational publish threshold.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$rate</h4>
                                                <code>float</code><p><p>The publish rate.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the entire script block.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_marker"></a>
                        <div class="element clickable method public  method_marker" data-toggle="collapse" data-target=".method_marker .collapse">
                            <h2>Add a marker to the global ros3d scene.</h2>
                            <pre>marker(string $topic) : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
                                                                            </table>

                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$topic</h4>
                                                <code>string</code><p><p>The marker topic.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the entire script block.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_interactiveMarker"></a>
                        <div class="element clickable method public  method_interactiveMarker" data-toggle="collapse" data-target=".method_interactiveMarker .collapse">
                            <h2>Add an interactive marker to the global ros3d scene.</h2>
                            <pre>interactiveMarker(string $topic, int $colladaLoader = null, string $resourceServer = null) : string</pre>
                            <div class="labels">
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                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
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                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$topic</h4>
                                                <code>string</code><p><p>The interactive marker topic.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$colladaLoader</h4>
                                                <code>int</code><p><p>The Collada loader ID to use.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$resourceServer</h4>
                                                <code>string</code><p><p>The base URL of the Collada resource server.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the entire script block.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_urdf"></a>
                        <div class="element clickable method public  method_urdf" data-toggle="collapse" data-target=".method_urdf .collapse">
                            <h2>Add an URDF to the global ros3d scene.</h2>
                            <pre>urdf(string $param, int $colladaLoader = null, string $resourceServer = null) : string</pre>
                            <div class="labels">
                                                                                                                                                                                            </div>
                            <div class="row collapse">
                                <div class="detail-description">
                                    <div class="long_description"></div>

                                    <table class="table">
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                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$param</h4>
                                                <code>string</code><p><p>The robot description parameter.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$colladaLoader</h4>
                                                <code>int</code><p><p>The Collada loader ID to use.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$resourceServer</h4>
                                                <code>string</code><p><p>The base URL of the Collada resource server.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the entire script block.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_keyboardTeleop"></a>
                        <div class="element clickable method public  method_keyboardTeleop" data-toggle="collapse" data-target=".method_keyboardTeleop .collapse">
                            <h2>Create a keyboard teleoperation connection via keyboardteleopjs.</h2>
                            <pre>keyboardTeleop(string $topic, null|string $throttle = null) : string</pre>
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                                                                            <h3>Arguments</h3>
                                                                                    <div class="subelement argument">
                                                <h4>$topic</h4>
                                                <code>string</code><p><p>The teleoperation topic to publish to.</p></p>
                                            </div>
                                                                                    <div class="subelement argument">
                                                <h4>$throttle</h4>
                                                <code>null|string</code><p><p>The throttle rate.</p></p>
                                            </div>
                                                                            
                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for the entire script block.</p></p>
                                                                    </div>
                            </div>
                        </div>
                                            <a id="method_initStudy"></a>
                        <div class="element clickable method public  method_initStudy" data-toggle="collapse" data-target=".method_initStudy .collapse">
                            <h2>Initialize study information if there is a valid study session. This method has no effect if no study session is
in progress.</h2>
                            <pre>initStudy() : string</pre>
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                                <div class="detail-description">
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                                                                            <h3>Response</h3>
                                        <code>string</code><p><p>The HTML for study initialization.</p></p>
                                                                    </div>
                            </div>
                        </div>
                    
                    
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